You've already forked godot
mirror of
https://github.com/godotengine/godot.git
synced 2025-11-22 15:06:45 +00:00
73 lines
4.0 KiB
C++
73 lines
4.0 KiB
C++
/**************************************************************************/
|
|
/* jacobian_ik_3d.cpp */
|
|
/**************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://godotengine.org */
|
|
/**************************************************************************/
|
|
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
|
|
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/**************************************************************************/
|
|
|
|
#include "jacobian_ik_3d.h"
|
|
|
|
void JacobianIK3D::_solve_iteration(double p_delta, Skeleton3D *p_skeleton, IterateIK3DSetting *p_setting, const Vector3 &p_destination) {
|
|
int joint_size = (int)p_setting->joints.size();
|
|
int chain_size = (int)p_setting->chain.size();
|
|
|
|
// Forwards.
|
|
for (int i = 0; i < joint_size; i++) {
|
|
IKModifier3DSolverInfo *solver_info = p_setting->solver_info_list[i];
|
|
if (!solver_info || Math::is_zero_approx(solver_info->length)) {
|
|
continue;
|
|
}
|
|
|
|
int HEAD = i;
|
|
int TAIL = i + 1;
|
|
|
|
Vector3 current_head = p_setting->chain[HEAD];
|
|
Vector3 current_effector = p_setting->chain[chain_size - 1];
|
|
Vector3 head_to_effector = current_effector - current_head;
|
|
Vector3 effector_to_destination = p_destination - current_effector;
|
|
Vector3 axis = head_to_effector.cross(effector_to_destination);
|
|
|
|
if (Math::is_zero_approx(axis.length_squared())) {
|
|
continue;
|
|
}
|
|
|
|
Quaternion to_rot = Quaternion(axis.normalized(), axis.length() / MAX(CMP_EPSILON, head_to_effector.length()));
|
|
|
|
for (int j = TAIL; j < chain_size; j++) {
|
|
Vector3 to_tail = p_setting->chain[j] - current_head;
|
|
p_setting->update_chain_coordinate_fw(p_skeleton, j, current_head + to_rot.xform(to_tail));
|
|
|
|
int k = j - 1;
|
|
if (p_setting->joint_settings[k]->rotation_axis != ROTATION_AXIS_ALL) {
|
|
p_setting->update_chain_coordinate_fw(p_skeleton, j, p_setting->chain[k] + p_setting->joint_settings[k]->get_projected_rotation(solver_info->current_grest, p_setting->chain[j] - p_setting->chain[k]));
|
|
}
|
|
if (p_setting->joint_settings[k]->limitation.is_valid()) {
|
|
p_setting->update_chain_coordinate_fw(p_skeleton, j, p_setting->chain[k] + p_setting->joint_settings[k]->get_limited_rotation(solver_info->current_grest, p_setting->chain[j] - p_setting->chain[k], solver_info->forward_vector));
|
|
}
|
|
}
|
|
}
|
|
}
|